\hypertarget{classRampTrajectory}{}\doxysection{Ramp\+Trajectory Class Reference}
\label{classRampTrajectory}\index{RampTrajectory@{RampTrajectory}}


This class implements a ramp trajectory object.  




{\ttfamily \#include $<$ramp\+\_\+trajectory.\+h$>$}

\doxysubsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\mbox{\hyperlink{classRampTrajectory_a80103af9c7d2f6da435290e3c20d06f0}{Ramp\+Trajectory}} (double dt\+In)
\begin{DoxyCompactList}\small\item\em Construct a new Ramp Trajectory object. \end{DoxyCompactList}\item 
void \mbox{\hyperlink{classRampTrajectory_af583163f076e5bee4ab6ed8d1948c157}{set\+Para}} (double y\+Des\+In, double time\+To\+Reach)
\begin{DoxyCompactList}\small\item\em Set the parameter using the disired reaching time. \end{DoxyCompactList}\item 
void \mbox{\hyperlink{classRampTrajectory_a4ac02392feeeb3df24259609cc77d68a}{set\+Para\+Dirt}} (double y\+Des\+In, double delta\+\_\+y)
\begin{DoxyCompactList}\small\item\em Set the parameter using one step distance. \end{DoxyCompactList}\item 
double \mbox{\hyperlink{classRampTrajectory_a11bb16712606bfa6edf25d7b8d182b55}{step}} ()
\begin{DoxyCompactList}\small\item\em return the next desired position in trajectory \end{DoxyCompactList}\item 
bool \mbox{\hyperlink{classRampTrajectory_af83b54486e008916beb4067b6af630c8}{is\+Reach\+Des}} ()
\begin{DoxyCompactList}\small\item\em check whether has reached the destination \end{DoxyCompactList}\item 
void \mbox{\hyperlink{classRampTrajectory_add57cb4e79e39f6de0edf35a82fcd040}{reset\+Out}} (double y\+Out)
\begin{DoxyCompactList}\small\item\em overwrite the current and last position \end{DoxyCompactList}\end{DoxyCompactItemize}
\doxysubsection*{Public Attributes}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classRampTrajectory_a58c602af7651d788d77c982a6a0cf255}\label{classRampTrajectory_a58c602af7651d788d77c982a6a0cf255}} 
double \mbox{\hyperlink{classRampTrajectory_a58c602af7651d788d77c982a6a0cf255}{dt}}
\begin{DoxyCompactList}\small\item\em trajectory step time interval \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classRampTrajectory_ac41bb550cf0b32ca1d50275443b3bca9}\label{classRampTrajectory_ac41bb550cf0b32ca1d50275443b3bca9}} 
double \mbox{\hyperlink{classRampTrajectory_ac41bb550cf0b32ca1d50275443b3bca9}{y}}
\begin{DoxyCompactList}\small\item\em current position \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classRampTrajectory_aac1dd0865c7fed61f79b83c96506166d}\label{classRampTrajectory_aac1dd0865c7fed61f79b83c96506166d}} 
double \mbox{\hyperlink{classRampTrajectory_aac1dd0865c7fed61f79b83c96506166d}{y\+Des}}
\begin{DoxyCompactList}\small\item\em desired position \end{DoxyCompactList}\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}
This class implements a ramp trajectory object. 

This class can be used to generate a discrete ramp trajectory 

Definition at line 17 of file ramp\+\_\+trajectory.\+h.



\doxysubsection{Constructor \& Destructor Documentation}
\mbox{\Hypertarget{classRampTrajectory_a80103af9c7d2f6da435290e3c20d06f0}\label{classRampTrajectory_a80103af9c7d2f6da435290e3c20d06f0}} 
\index{RampTrajectory@{RampTrajectory}!RampTrajectory@{RampTrajectory}}
\index{RampTrajectory@{RampTrajectory}!RampTrajectory@{RampTrajectory}}
\doxysubsubsection{\texorpdfstring{RampTrajectory()}{RampTrajectory()}}
{\footnotesize\ttfamily Ramp\+Trajectory\+::\+Ramp\+Trajectory (\begin{DoxyParamCaption}\item[{double}]{dt\+In }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}



Construct a new Ramp Trajectory object. 


\begin{DoxyParams}{Parameters}
{\em dt\+In} & trajectory step time interval \\
\hline
\end{DoxyParams}


Definition at line 28 of file ramp\+\_\+trajectory.\+h.



\doxysubsection{Member Function Documentation}
\mbox{\Hypertarget{classRampTrajectory_af83b54486e008916beb4067b6af630c8}\label{classRampTrajectory_af83b54486e008916beb4067b6af630c8}} 
\index{RampTrajectory@{RampTrajectory}!isReachDes@{isReachDes}}
\index{isReachDes@{isReachDes}!RampTrajectory@{RampTrajectory}}
\doxysubsubsection{\texorpdfstring{isReachDes()}{isReachDes()}}
{\footnotesize\ttfamily bool Ramp\+Trajectory\+::is\+Reach\+Des (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}



check whether has reached the destination 

\begin{DoxyReturn}{Returns}
true 

false 
\end{DoxyReturn}


Definition at line 31 of file ramp\+\_\+trajectory.\+cpp.



References dt, y, and y\+Des.

\mbox{\Hypertarget{classRampTrajectory_add57cb4e79e39f6de0edf35a82fcd040}\label{classRampTrajectory_add57cb4e79e39f6de0edf35a82fcd040}} 
\index{RampTrajectory@{RampTrajectory}!resetOut@{resetOut}}
\index{resetOut@{resetOut}!RampTrajectory@{RampTrajectory}}
\doxysubsubsection{\texorpdfstring{resetOut()}{resetOut()}}
{\footnotesize\ttfamily void Ramp\+Trajectory\+::reset\+Out (\begin{DoxyParamCaption}\item[{double}]{y\+Out }\end{DoxyParamCaption})}



overwrite the current and last position 


\begin{DoxyParams}{Parameters}
{\em y\+Out} & \\
\hline
\end{DoxyParams}


Definition at line 38 of file ramp\+\_\+trajectory.\+cpp.



References y.



Referenced by Joy\+Stick\+Interpreter\+::reset().

\mbox{\Hypertarget{classRampTrajectory_af583163f076e5bee4ab6ed8d1948c157}\label{classRampTrajectory_af583163f076e5bee4ab6ed8d1948c157}} 
\index{RampTrajectory@{RampTrajectory}!setPara@{setPara}}
\index{setPara@{setPara}!RampTrajectory@{RampTrajectory}}
\doxysubsubsection{\texorpdfstring{setPara()}{setPara()}}
{\footnotesize\ttfamily void Ramp\+Trajectory\+::set\+Para (\begin{DoxyParamCaption}\item[{double}]{y\+Des\+In,  }\item[{double}]{time\+To\+Reach }\end{DoxyParamCaption})}



Set the parameter using the disired reaching time. 


\begin{DoxyParams}{Parameters}
{\em y\+Des\+In} & desired position to reach \\
\hline
{\em time\+To\+Reach} & the time to reach the y\+Des from the current y\+Old \\
\hline
\end{DoxyParams}


Definition at line 11 of file ramp\+\_\+trajectory.\+cpp.



References y\+Des.



Referenced by Joy\+Stick\+Interpreter\+::set\+Vx\+Des\+L\+Para(), Joy\+Stick\+Interpreter\+::set\+Vy\+Des\+L\+Para(), and Joy\+Stick\+Interpreter\+::set\+Wz\+Des\+L\+Para().

\mbox{\Hypertarget{classRampTrajectory_a4ac02392feeeb3df24259609cc77d68a}\label{classRampTrajectory_a4ac02392feeeb3df24259609cc77d68a}} 
\index{RampTrajectory@{RampTrajectory}!setParaDirt@{setParaDirt}}
\index{setParaDirt@{setParaDirt}!RampTrajectory@{RampTrajectory}}
\doxysubsubsection{\texorpdfstring{setParaDirt()}{setParaDirt()}}
{\footnotesize\ttfamily void Ramp\+Trajectory\+::set\+Para\+Dirt (\begin{DoxyParamCaption}\item[{double}]{y\+Des\+In,  }\item[{double}]{delta\+\_\+y }\end{DoxyParamCaption})}



Set the parameter using one step distance. 


\begin{DoxyParams}{Parameters}
{\em y\+Des\+In} & desired position to reach \\
\hline
{\em delta\+\_\+y} & one step distance \\
\hline
\end{DoxyParams}


Definition at line 18 of file ramp\+\_\+trajectory.\+cpp.



References dt, and y\+Des.

\mbox{\Hypertarget{classRampTrajectory_a11bb16712606bfa6edf25d7b8d182b55}\label{classRampTrajectory_a11bb16712606bfa6edf25d7b8d182b55}} 
\index{RampTrajectory@{RampTrajectory}!step@{step}}
\index{step@{step}!RampTrajectory@{RampTrajectory}}
\doxysubsubsection{\texorpdfstring{step()}{step()}}
{\footnotesize\ttfamily double Ramp\+Trajectory\+::step (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}



return the next desired position in trajectory 

\begin{DoxyReturn}{Returns}
double 
\end{DoxyReturn}


Definition at line 23 of file ramp\+\_\+trajectory.\+cpp.



References dt, y, and y\+Des.



Referenced by Joy\+Stick\+Interpreter\+::step().



The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
\item 
ramp\+\_\+trajectory.\+h\item 
ramp\+\_\+trajectory.\+cpp\end{DoxyCompactItemize}
